Abstract: This article presents an inverse optimal control (IOC) approach for nonlinear polynomial systems based on adaptive dynamic programming (ADP). First, a novel model-based algorithm is ...
Collision Avoidance using Iterative Dynamic and Nonlinear Programming with Adaptive Grid Refinements
Abstract: Nonlinear optimal control problems for trajectory planning with obstacle avoidance present several challenges. While general-purpose optimizers and dynamic programming methods struggle when ...
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